This paper proposes a method of dynamic modeling and a modified sliding mode control
algorithm applied on multi-link underwater manipulators. Firstly, combining Lagrange …

This work proposes a novel flexible manipulator consisting of a series of 2-DOF vertebrae
based on a ball-and-socket joint that is connected by a ball-shaped surface and a cup …

The main intent of this paper is to represent a symbolic algorithm, capable of deriving the
equations of motion of N-rigid link manipulators with revolute–prismatic (R–P) joints, which …

This paper focuses on the study of dynamic modeling of nonholonomic wheeled mobile
robotic manipulators, which consist of a serial manipulator with elastic joints and an …

Underwater autonomous manipulation is a challenging task, which not only includes a
complicated multibody dynamic and hydrodynamic process, but also involves the limited …

Abstract As reviewed in Chap. 2, Newton-Euler (NE) equations of motion are found to be
popular in dynamic formulations. Several methods were also proposed by various …

The goal of this paper is to describe the application of Gibbs–Appell (G–A) formulation and
the assumed modes method to the mathematical modeling of N-viscoelastic link …

This paper lays out a framework to model the kinematics and dynamics of a rigid spacecraft-
mounted multibody robotic system. The framework is based on dual quaternion algebra …

Variable stiffness link (VSL) manipulators are robotic arms that can adjust their link stiffness
in real time to improve their adaptability and precision. They are particularly useful in …

This work presents a systematic method for the dynamic modeling of multi-rigid links
confined within a closed environment. The behavior of the system can be completely …